// Copyright (c) 2023 Open Source Robotics Foundation, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the Willow Garage nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
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#ifndef IMAGE_TRANSPORT__REPUBLISH_HPP_
#define IMAGE_TRANSPORT__REPUBLISH_HPP_

#include <memory>

#include "image_transport/image_transport.hpp"
#include "image_transport/visibility_control.hpp"

#include <pluginlib/class_loader.hpp>

#include <rclcpp/rclcpp.hpp>

namespace image_transport
{
class Republisher : public rclcpp::Node
{
public:
  /// Constructor
  IMAGE_TRANSPORT_PUBLIC
  explicit Republisher(const rclcpp::NodeOptions & options);

private:
  void initialize();

  rclcpp::TimerBase::SharedPtr timer_;
  bool initialized_{false};
  image_transport::Subscriber sub;
  image_transport::Publisher pub;
  pluginlib::UniquePtr<image_transport::PublisherPlugin> instance;
  std::shared_ptr<pluginlib::ClassLoader<image_transport::PublisherPlugin>> loader;
};

}  // namespace image_transport
#endif  // IMAGE_TRANSPORT__REPUBLISH_HPP_
